#include <armarx/navigation/skills/NavigatingSkillHelper.h>

Classes
struct	Properties

struct	Services

Public Member Functions
std::optional< client::Navigator > &	getNavigator ()

void	init (const arondto::NavigatingSkillParams &params, const std::string &id)

template<typename IssueNavigationCommandT, typename ShouldTerminateT>
client::StopEvent	moveAndWaitForStop (IssueNavigationCommandT &&issueNavigationCommand, ShouldTerminateT &&shouldTerminate)
	Issues the navigation command and waits for the navigator to stop, polling `shouldTerminate` meanwhile.

	NavigatingSkillHelper (const Properties &properties, const Services &srv)

Static Public Member Functions
static arondto::NavigatingSkillParams	DefaultSkillDescription ()

Detailed Description

Definition at line 85 of file NavigatingSkillHelper.h.

Constructor & Destructor Documentation

◆ NavigatingSkillHelper()

NavigatingSkillHelper	(	const Properties &	properties,
		const Services &	srv )

Definition at line 39 of file NavigatingSkillHelper.cpp.

Member Function Documentation

◆ DefaultSkillDescription()

arondto::NavigatingSkillParams DefaultSkillDescription ( )

static

Definition at line 261 of file NavigatingSkillHelper.cpp.

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◆ getNavigator()

std::optional< client::Navigator > & getNavigator ( )

Definition at line 255 of file NavigatingSkillHelper.cpp.

◆ init()

void init	(	const arondto::NavigatingSkillParams &	params,
		const std::string &	id )

Definition at line 94 of file NavigatingSkillHelper.cpp.

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◆ moveAndWaitForStop()

template<typename IssueNavigationCommandT, typename ShouldTerminateT>

client::StopEvent moveAndWaitForStop	(	IssueNavigationCommandT &&	issueNavigationCommand,
		ShouldTerminateT &&	shouldTerminate )

inline

Issues the navigation command and waits for the navigator to stop, polling shouldTerminate meanwhile.

If the global planner fails and the retryTimeout budget (measured from the first attempt) is not exhausted yet, the command is re-issued after a short pause. Returns the stop event of the last attempt.

Templated rather than taking std::functions: the navigation commands can throw (e.g. Ice exceptions), which std::function cannot express and -Wnoexcept rejects.

Definition at line 118 of file NavigatingSkillHelper.h.

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The documentation for this class was generated from the following files:

armarx/navigation/skills/NavigatingSkillHelper.h
armarx/navigation/skills/NavigatingSkillHelper.cpp

Classes

Public Member Functions

Static Public Member Functions